Program Listing for File GridMapVisualizationHelpers.hpp
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/*
* GridMapVisualizationHelpers.hpp
*
* Created on: Jun 24, 2014
* Author: Péter Fankhauser
* Institute: ETH Zurich, ANYbotics
*/
#ifndef GRID_MAP_VISUALIZATION__GRIDMAPVISUALIZATIONHELPERS_HPP_
#define GRID_MAP_VISUALIZATION__GRIDMAPVISUALIZATIONHELPERS_HPP_
// ROS
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/color_rgba.hpp>
#include <visualization_msgs/msg/marker_array.hpp>
// Eigen
#include <Eigen/Core>
namespace grid_map_visualization
{
void getColorMessageFromColorVector(
std_msgs::msg::ColorRGBA & colorMessage,
const Eigen::Vector3f & colorVector,
bool resetTransparency = true);
void getColorVectorFromColorMessage(
Eigen::Vector3f & colorVector,
const std_msgs::msg::ColorRGBA & colorMessage);
void setColorFromColorValue(
std_msgs::msg::ColorRGBA & color, const uint64_t & colorValue,
bool resetTransparency = true);
void setColorChannelFromValue(
float & colorChannel, const double value, const double lowerValueBound,
const double upperValueBound, const bool invert = false,
const double colorChannelLowerValue = 0.0,
const double colorChannelUpperValue = 1.0);
void interpolateBetweenColors(
std_msgs::msg::ColorRGBA & color, const std_msgs::msg::ColorRGBA & colorForLowerValue,
const std_msgs::msg::ColorRGBA & colorForUpperValue, const double value,
const double lowerValueBound, const double upperValueBound);
void setSaturationFromValue(
std_msgs::msg::ColorRGBA & color, const double value, const double lowerValueBound,
const double upperValueBound, const double maxSaturation, const double minSaturation);
void setColorFromValue(
std_msgs::msg::ColorRGBA & color, const double value, const double lowerValueBound,
const double upperValueBound);
double computeLinearMapping(
const double & sourceValue, const double & sourceLowerValue, const double & sourceUpperValue,
const double & mapLowerValue, const double & mapUpperValue);
} // namespace grid_map_visualization
#endif // GRID_MAP_VISUALIZATION__GRIDMAPVISUALIZATIONHELPERS_HPP_